Single-lens, single-aperture, single-sensor 3-D imaging device

Abstract

A device and method for three-dimensional (3-D) imaging using a defocusing technique is disclosed. The device comprises a lens having a substantially oblong aperture, a sensor operable for capturing light transmitted from an object through the lens and the substantially oblong aperture, and a processor communicatively connected with the sensor for processing the sensor information and producing a 3-D image of the object. The aperture may have an asymmetrical shape for distinguishing objects in front of versus in back of the focal plane. The aperture may also be rotatable, where the orientation of the observed pattern relative to the oblong aperture is varied with time thereby removing the ambiguity generated by image overlap. The disclosed device further comprises a light projection system configured to project a predetermined pattern onto a surface of the desired object thereby allowing for mapping of unmarked surfaces in three dimensions.

1. A device for three-dimensional (3-D) imaging comprising:
 a lens; 
 a substantially oblong aperture obstructing the lens, the substantially oblong aperture having a substantially oblong shape; 
 a sensor both operable and positioned to capture electromagnetic radiation transmitted from an object through the lens and the substantially oblong aperture; and 
 a processor communicatively connected with the sensor and adapted to produce 3-D image data of the object based on information from the sensor indicative of the distance between edges of the substantially oblong shape. 
 
     
     
       2. The device of  claim 1  where the substantially oblong aperture comprises an asymmetric shape, which is asymmetric along an axis between the edges. 
     
     
       3. The device of  claim 2 , where the oblong aperture is rotatable and the processor is adapted to produce a 3-D image of the object based on information from the sensor captured at different rotational orientations of the oblong aperture. 
     
     
       4. The device of  claim 3 , further comprising a projection system configured to project a predetermined pattern of electromagnetic radiation onto a surface of the object thereby allowing for mapping of unmarked surfaces in three dimensions. 
     
     
       5. The device of  claim 4 , where the sensor comprises rows and columns of pixels, the substantially oblong aperture has a major axis and a minor axis, and where the axes are aligned with the rows and columns of the sensor. 
     
     
       6. The device of  claim 5 , wherein the projection system is configured to project a line onto a surface of the object, such that the line is at a substantially right angle to the substantially oblong aperture. 
     
     
       7. The device of  claim 1 , where the oblong aperture is rotatable and the processor is adapted to produce a 3-D image of the object based on information from the sensor captured at different rotational orientations of the oblong aperture. 
     
     
       8. The device of  claim 1 , further comprising a projection system configured to project a predetermined pattern of electromagnetic radiation onto a surface of the object thereby allowing for mapping of unmarked surfaces in three dimensions. 
     
     
       9. The device of  claim 1 , where the sensor comprises rows and columns of pixels, the substantially oblong aperture has a major axis and a minor axis, and where the axes are aligned with the rows and columns of the sensor. 
     
     
       10. The device of  claim 1 , wherein the projection system is configured to project a line onto a surface of the object, such that the line is at a substantially right angle to the substantially oblong aperture. 
     
     
       11. The device of  claim 1 , where the oblong aperture has rounded edges at ends of the oblong shape. 
     
     
       12. A method for three-dimensional (3-D) imaging of an object, comprising:
 capturing electromagnetic radiation transmitted off of an object and through a lens and a substantially oblong aperture with a sensor, the substantially oblong aperture having a substantially oblong shape; and 
 processing defocused information from the sensor indicative of a distance between edges of the substantially oblong shape to produce a 3-D image representative of the object. 
 
     
     
       13. The method of  claim 12 , where the substantially oblong aperture comprises an asymmetric shape, which is asymmetric along an axis between the edges. 
     
     
       14. The method of  claim 12 , further comprising an act of rotating the substantially oblong aperture, whereby an orientation of an observed pattern relative to the oblong aperture is varied with time. 
     
     
       15. The method of  claim 12 , further comprising an act of projecting a predetermined pattern of electromagnetic radiation onto a surface of the object thereby allowing for mapping of unmarked surfaces in three dimensions. 
     
     
       16. The method of  claim 12 , where the sensor comprises rows and columns of pixels, the substantially oblong aperture has a major axis and a minor axis, and where the axes are aligned with the rows and columns of the sensor. 
     
     
       17. The method of  claim 12 , further comprising an act of projecting a line onto a surface of the object, such that the line is at a substantially right angle to the substantially oblong aperture. 
     
     
       18. The method of  claim 12 , where the oblong aperture has rounded edges at ends of the oblong shape.